\hypertarget{classGaitScheduler}{}\doxysection{Gait\+Scheduler Class Reference}
\label{classGaitScheduler}\index{GaitScheduler@{GaitScheduler}}
\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classGaitScheduler_ae80429157cc4a030426a9776a3c087a5}\label{classGaitScheduler_ae80429157cc4a030426a9776a3c087a5}} 
{\bfseries Gait\+Scheduler} (double t\+Swing\+In, double dt\+In)
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\mbox{\Hypertarget{classGaitScheduler_abf48e1b2e83d12d487d0af06fc5a8582}\label{classGaitScheduler_abf48e1b2e83d12d487d0af06fc5a8582}} 
void {\bfseries data\+Bus\+Read} (const \mbox{\hyperlink{structDataBus}{Data\+Bus}} \&robot\+State)
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\mbox{\Hypertarget{classGaitScheduler_a588d153104910535743c342cef8910ab}\label{classGaitScheduler_a588d153104910535743c342cef8910ab}} 
void {\bfseries data\+Bus\+Write} (\mbox{\hyperlink{structDataBus}{Data\+Bus}} \&robot\+State)
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\mbox{\Hypertarget{classGaitScheduler_aa23623812735c74e6e97554489599790}\label{classGaitScheduler_aa23623812735c74e6e97554489599790}} 
void {\bfseries step} ()
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\mbox{\Hypertarget{classGaitScheduler_a81aa9cc7644286cb50f5f7d2c066d5b3}\label{classGaitScheduler_a81aa9cc7644286cb50f5f7d2c066d5b3}} 
void {\bfseries stop} ()
\end{DoxyCompactItemize}
\doxysubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classGaitScheduler_a3473035ec27c4cdee3d04b1bd156ac0e}\label{classGaitScheduler_a3473035ec27c4cdee3d04b1bd156ac0e}} 
bool {\bfseries is\+Ini} \{false\}
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\mbox{\Hypertarget{classGaitScheduler_a1f1a221fb6fa50a17a941990cb8a428f}\label{classGaitScheduler_a1f1a221fb6fa50a17a941990cb8a428f}} 
double {\bfseries phi} \{0\}
\item 
\mbox{\Hypertarget{classGaitScheduler_ae7e444a24e0ed19c0a52b8832220538f}\label{classGaitScheduler_ae7e444a24e0ed19c0a52b8832220538f}} 
double {\bfseries t\+Swing} \{0.\+4\}
\item 
\mbox{\Hypertarget{classGaitScheduler_afe24a16f3a4b9e4f5db04056b3cdc349}\label{classGaitScheduler_afe24a16f3a4b9e4f5db04056b3cdc349}} 
double {\bfseries dt} \{0.\+001\}
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\mbox{\Hypertarget{classGaitScheduler_a91185099fb4d6ad3154c01426cd841dc}\label{classGaitScheduler_a91185099fb4d6ad3154c01426cd841dc}} 
double {\bfseries Fz\+Threhold} \{100\}
\item 
\mbox{\Hypertarget{classGaitScheduler_a23b4fe5d102f13755d2b14950bc13e3b}\label{classGaitScheduler_a23b4fe5d102f13755d2b14950bc13e3b}} 
double {\bfseries Fz\+\_\+\+L\+\_\+m} \{0\}
\item 
\mbox{\Hypertarget{classGaitScheduler_ab43cec46486e1e5f3cd6e59a6c162ac7}\label{classGaitScheduler_ab43cec46486e1e5f3cd6e59a6c162ac7}} 
double {\bfseries Fz\+\_\+\+R\+\_\+m} \{0\}
\item 
\mbox{\Hypertarget{classGaitScheduler_af10903d6376bdc95bfe49c41ff951017}\label{classGaitScheduler_af10903d6376bdc95bfe49c41ff951017}} 
Data\+Bus\+::\+Leg\+State {\bfseries leg\+State}
\item 
\mbox{\Hypertarget{classGaitScheduler_a7593fedd09b2c3897b9a81db2bb0560a}\label{classGaitScheduler_a7593fedd09b2c3897b9a81db2bb0560a}} 
Data\+Bus\+::\+Leg\+State {\bfseries leg\+State\+Next}
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\mbox{\Hypertarget{classGaitScheduler_a614ce3fed948dcc2746f21202437df62}\label{classGaitScheduler_a614ce3fed948dcc2746f21202437df62}} 
Eigen\+::\+Vector\+Xd {\bfseries FLest}
\item 
\mbox{\Hypertarget{classGaitScheduler_abbd1d35129e19e01297f883b69f6cbd3}\label{classGaitScheduler_abbd1d35129e19e01297f883b69f6cbd3}} 
Eigen\+::\+Vector\+Xd {\bfseries FRest}
\item 
\mbox{\Hypertarget{classGaitScheduler_a5c644ded833c2b83911d70265a51a12c}\label{classGaitScheduler_a5c644ded833c2b83911d70265a51a12c}} 
Eigen\+::\+Vector\+Xd {\bfseries tor\+Joint}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}


Definition at line 14 of file gait\+\_\+scheduler.\+h.



The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
gait\+\_\+scheduler.\+h\item 
gait\+\_\+scheduler.\+cpp\end{DoxyCompactItemize}
